SmarTS Lab A real-time hardware-in-the-loop laboratory for developing WAMPAC applications

Transcription

1 SmarTS Lab A real-time hardware-in-the-loop laboratory for developing WAMPAC applications Dr. Luigi Vanfretti, M. Shoaib Almas KTH Royal Institute of Technology Electric Power Systems luigiv@kth.se Web: Greg Zweigle and Bill Flerchinger Schweitzer Engineering Laboratories Greg_Zweigle@selinc.com, Bill_Flerchinger@selinc.com Web: NASPI Meeting - Denver Denver, Colorado June 5, 2012

2 Outline whoami Smart Transmission Systems Research Group SmarTS Lab - Overall architecture and hardware implementation - Comm. and Synchronization Architecture and Implementation - Software implementation - Model-to-Data Workflow for Hardware-in-Open-Loop and Hardware-inthe-Loop SEL Products for Smart Transmission: How we use SEL products - How we use SEL products - Configuration of relays for Synchrophasors and IEC PDC Configuration - Visualization and Historian Configuration Research Project Example Lessons Learned and Future Research Activities

3 Research Group Leader: Dr. Luigi Vanfretti, PhD PhD Students Smart Transmission Systems Lab. and Research Electric Power Systems Department - Rujiroj Leelaruji, Methodical command of protection and controllable devices through synchronized measurement technology. Funded by EKC2. - Yuwa Chompoobutrgool, Wide-Area Damping through Generator Control. Funded by ELFORSK. - Vedran Peric, Estimation of Electromechanical Mode Properties. Funded by Erasmus Mundus SETS PhD Program. - Tang Doan Tu, PMU-Assisted Voltage Instability Detection and Control. Funded by Erasmus Mundus SETS PhD Program. - Wei Li, Real-Time State Estimation of AC/DC Grids. Funded by the Swedish Energy Agency, SvK and ABB. - Muhammad Shoaib Almas, Real-Time Wide-Area Control of FACTS and VSC-HVDC in Hybrid AC and DC Grids. Funded by NER through the STRONGrid project - Tatiana Bogodorova, Synchrophasor-based Dynamic Model Validation.Funded by the EC through the itesla FP7 project. MSc Student: Maxime Baudette. Real-Time Monitoring of Intra-Wind Farm Interactions. Start May Dr. Luigi Vanfretti Rujiroj Leelaruji Yuwa Chompoobutrgool Vedran Peric Tang Duan Tu PhD Students Wei Li Shoaib Almas Tetiana Bogodorova Maxime Baudette MSc. Students

4 SmarTS Lab The Smart Transmission Systems Lab.

5 How to develop a controlled environment for developing Smart Transmission Apps? Sync. Timing Phasor Measurement Data Smarter Operator Decision Support Smarter Operator Control Actions Transmission System Control Center Communication Networks Data Alignment and Concentration Data Storage and Mining Monitoring Advanced Displays Decision/Control Support System Near Real-Time Security Assessment Early Warning System Smart-Automatic Control Actions Automatic Determination of Control Actions Controllable and Protective Device Measurement and Status Data Smart Grid require Smart Operation, Smart Control and Smart Protection: - The ultimate goal should be to attain an automatic-feedback self-healing control system Measure Communicate Analyze (System Assessment and real limits) Determine Preventive/Corrective Actions Communicate Control and protect To achieve this vision, new applications need to be developed in a controlled environment, allowing testing and considering the ICT chain

6 The SmarTS Lab Architecture Opal-RT Real-Time Simulator Low-Level Analog I/ Os V and I Amplifiers Amplified analog outputs (current/ volt age) PMUs Synchrophasor Dat a PDC(s) Digital I/ Os GOOSE GOOSE SEL PMUs / Relays WAMS Applications GOOSE Sampled Values St at ion Bus Process Bus GOOSE Sampled Values Prot ect ive Relays ABB Relays Digital I/ Os Communicat ion Net work (WAN / Network Emulat or) WAPS Applications Ext ernal Cont rollers WACS Applications V and I Amplifiers Physical Devices Low-Power Prot ot ypes NI- crio 9076 WAMPAC Applicat ion Host Plat form

7 SmarTS Lab Hardware Implementation

8 SmarTS Lab Comm. and Synchronization Architecture and Implementation Process Bus (IEC ) Station Bus (IEC ) IRIG-B GPS - Signal Synchrophasor Bus (IEEE C37.118)

9 Synchrowave Phasor Data Concentrator Gathering PMU Measurements, Time Alignment and Archival SmarTS Lab Software Implementation Input to the PDC from 3 different PMUs (IP Configuration, Port No, PMU ID, etc.) Output Stream: - Sent to other PDC from SEL

10 SmarTS Lab Software Implementation Synchrowave Central (Visualization of PMU Data) SEL AcSELerator Quickset (Relay Settings and HMI) Display of real-time PMU data streams from SEL PDC SEL AcSELerator Display for Voltage and Current Phasors

11 Model-to-Data Workflow Off-line to RT Model Code Generation

12 Model-to-Data Proof of Concept Experiment (Hardware-in-Open-Loop) Real-Time Simulator Amplifier Amplifying from lowlevel to standard rating (1-60 Amp, V) Media Converter PMU Transmits Computed Phasors through Serial Port RS232 to TCP/IP over Ethernet Generate 3-Phase RT Signals (Voltages and Currents) Output signals, low level through simulator I/Os (+/- 16 V., +/- 20 ma) PMU/Relay Hardwired Ethernet SEL Synchrowave PDC

13 SEL-421 Relay with PMU functionality GPS Antenna GPS Signals Spliter Monitoring Output Measurement (3-Phase signals) Three-Phase Voltage & Current Signals GPS Antenna Input Ethernet Port Data Stream on IEEE C Opal-RT OP5600 Computational Target Analog Outputs from IO to Megger SMRT1 Megger SMRT1 (Back Panel) Megger SMRT1 (Front Panel)

14 The whole process in real-time: Interaction with the model in real-time (Hardware-in-open-loop) Generator mechanical power perturbation What is observed at the PMU at 50 fps reporting rate? Generator mechanical power perturbation Damped oscillations captured by the PMU at 50 fps in the frequency computed by the PMU One-Line Diagram Thevenin Equivalent Synchronous Generartor 500MVA, 20kV Bus 1 Bus 2 Transmission Line L 1-3 Transmission Line L 1-3 a Step Up Transformer 20kV / 380 kv Bus 3 Step Down Transformer 380 kv / 6.3 kv Transmission Line L 3-5 Bus 4 Bus 5 Induction Motor 4.9 MVA, 6.3 kv ` M OLTC Controlled Load

15 Video! Modeling for Real-Time Hardware-in-the-Loop Simulation

16 SEL Products for Smart Transmission How we use SEL Products in our Lab.

17 How we use SEL products in SmarTS Lab?

18 Configuring Relay and PMU Features

19 Configuring IEC (GOOSE) Features

20 Configuring Synchrophasor Data Concentrator

21 Visualization and Historian Configuration Real-time or Historian Display Frequency Voltage Mag. Current Mag.

22 Research Project Example Overcurrent Relay Modeling and Validation for PMU-Assisted Protection

23 Model Validation of an Over-Current Relay Input Current Comparator Trip Signal Principle Pickup Value Block Diagram Part 1 Part 2 Part 3 Three Phase Current Analog Input of relay (Current from CT) Analog to Digital Converter Digital Filtering Current Set Point Protection Algorithm (Instantaneous, Definite or IDMT) Trip Signal

24 Modeling and Implementation for RT Simulation Current input from the secondary side of the CT. This is an analog signal Converts an input signal with continuous sample time to an output signal with discrete sample time Low pass digital FIR filter Down-sampling to avoid anti-aliasing effects Fourier analysis of the input signal to extract fundamental out of it Dividing fundamental componentent with square root of 2 to get RMS value Comparator to check whether the input current level is greater than the pickup value or not S-function running an algorithm. It monitors the input and checks if the input is 1 or not. (i.e. input current greater than pickup). The S-function gives out the time at wchih this input current goes above the pickup value. Output of this block is the time which has elapsed since the input current has exceeded the pickup value This block compares the operation time computed with the time elapsed by the timer. 1 In1 Zero-Order Hold Is to find ratio Lowpass Lowpass Filter Divide2 Scope2 Implementation in SimPowerSystems (MATLAB/Simulink) 2 Downsample Mag Fourier Phase Discrete Fourier sqrt(2) Converting To R.M.S Divide1 > Is Compare To Constant This block has a switch. The output of switch is zero in case when the current input is lesser than pickup value. The output of the block is the actual simulation time in case the current exceeds the pickup value C Control 1 0 Current Input 2 Is Fcn u(1)^(alpha) 1 In3 Control Control Extracting Time of Fault Current Input ~= 0 Switch Timer Out1 Out1 Operation Time Calculating Operation Time TMS 1 Operation Time Add > Relational Operator Scope1 Scope3 This block implements the mathematical C equation T = TMS α to compute I 1 Is the operation time corresponding to the type of characteristic curve chosen by the user

25 Hardware-in-the- Loop Validation Software-in-the-Loop Validation

26 Validation Results

27 Lessons Learned A fun experience! When building such laboratory, many details need to be considered: Cost and Procurement. - Choice of real-time simulator - It should fit your needs - Research needs industry needs. When operating such lab., a broad range of expertise is needed: - Clear knowledge on Real-Time modeling and simulation, with associated modeling phylosophy - From configuration of relays/pmu to PDC, and beyond (media converters, comm. network ) Having devices that are flexible in their configuration is very helpful: - SEL products have make it possible to configure different experiments without complications. - The generosity of SEL made it possible to have the justification to make additional expenses. Big lessons: - Separate your communication networks depending on the data type they will carry. In our experiments having large amounts of PMU data had large impacts in the performance of IEC and -9-2 (relay trip time was longer than using hardwires) Performance can be enhanced by separating IEC , -9-2, and PMU data - having IEC operate even faster that hardwired tests. Question: how can this be dealt with when all of the data will be under IEC with PMU under -9-5? - When using amplifiers, synchronization between each amplification source can be source of error for protection applications.

28 Thank you!

29 Back up slides: Real-Time Simulation: Fundamentals and Applications

30 What is a real-time simulation? The term real-time is used by several industries to describe timecritical technology. Ambiguity: For some sectors of the power industry real-time can range from seconds to 5-10 minutes, while for others is in the range of milliseconds and lower. This is connected to the physical process which is being dealt with, e.g. real-time markets (~10 min), real-time balancing (~5 min.), real-time control (5-20 ms), and protection (~10-50 micro sec.). The most proper usage of real-time, and the one we will use, is in the reference of embedded systems. Embedded systems are (intelligent) electronic devices which interface with the real world to provide control, interaction and convenience. Controllers, protective relays, etc. So, when talking about real-time we will be talking of process taking place in fractions of a second (10-50 micro sec.)

31 Real-Time System Configurations and Applications Rapid control/protection prototyping Hardware-in-the-loop Pure Simulation controller I/O controller I/O controller I/O Plant Plant Plant

32 Why use Real-Time Simulation? Typical Application Hardware-in-the-loop control and protection testing Testing and Validation Multiple and Diverse Fault and Contingency Scenarios Good! Bad!

33 What is a real-time simulation? Definition : In a real-time system, we define the Time Step as a predetermined amount of time (ex: Ts = 10 µs, 1 ms, or 5 ms). Inside this amount of time, the processor has to read input signals, such as sensors, to perform all necessary calculations, such as control algorithms, and to write all outputs, such as control signals (through analog, digital, or comm.ports). Outputs Outputs Inputs Model Calc. Inputs Model Calc. 0 µs 50 µs 100 µs t

34 What is a real-time simulation? Overruns : In a real-time system, when a predetermined time step is too short and could not have enough time to perform inputs, model calculation and outputs, there is an overrun. Outputs Outputs Inputs Model Calc. Model Calc. Inputs 0 µs 40 µs 80 µs t

35 What is a real-time simulation? Fixed-step solvers solve the model at regular time intervals from the beginning to the end of the simulation. The size of the interval is known as the step size: Ts. Generally, decreasing Ts increases the accuracy of the results while increasing the time required to simulate the system.

36 Opal-RT and RT-LAB system architecture TCP/IP Host Computer-Windows Edition of Simulink model Model compilation with RT-LAB User interface Target Computer I/O and real-time model execution QNX or Linux OS FTP and Telnet communication Possible with the Host